Moving Robot Node-Based Mapping for Accurate Topological Navigation
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Solution Overview
Problem
Existing moving robots face challenges in accurately generating maps and recognizing positions, particularly in distinguishing dynamic and fixed obstacles, and efficiently navigating wide areas, leading to longer map generation times and reduced performance of desired functions.
Innovation Solution
The implementation of a moving robot equipped with a lidar sensor, cameras, and advanced control methods that allow for real-time node generation and accurate connection relationship setting, enabling the robot to travel along the center of movement passages and minimize obstacle avoidance operations, thereby generating a more stable and accurate topological map.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If the moving robot generates a map based on distance information acquired while moving, then the robot can create a topological map, but the connecting relationship between nodes becomes inaccurate and the robot cannot accurately distinguish dynamic obstacles from fixed obstacles
Solution Approach 1:
The patent segments the environment into different types of obstacles (dynamic vs. fixed) and processes them separately. The controller classifies obstacles based on their movement characteristics and generates distinct node connections for each type, thereby improving the accuracy of the topological map while maintaining reliable node relationships.
2Area of stationary object
If the moving robot travels wide areas to perform desired functions, then the robot can cover more ground, but the time required for generating the map becomes longer
Solution Approach 1:
The robot performs preliminary actions by pre-classifying obstacles and pre-establishing node connections during the mapping process. This allows the robot to efficiently navigate wide areas without requiring extensive post-processing time, thereby reducing the overall map generation time while maintaining comprehensive area coverage.
3Productivity
If the moving robot uses conventional map generation methods, then the robot can complete mapping, but it takes a lot of time for the robot to perform desired functions after map generation
Solution Approach 1:
The controller continuously monitors obstacle movements and provides feedback to update the topological map in real-time. This feedback mechanism allows the robot to maintain an accurate map without requiring lengthy post-processing operations, thereby improving productivity and reducing the time needed to perform desired functions after mapping.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach enables the moving robot to efficiently generate accurate topological maps and perform desired functions, such as cleaning, by determining open movement directions and updating node data in real-time, resulting in improved navigation and reduced operational time.
Implementation Method 1
a moving robot equipped with a lidar sensor, cameras, and advanced control methods
Data Source
AI summary
A moving robot including: a lidar sensor to acquire terrain information; a memory to store node data nodes; and a controller to determine whether at least one open movement direction exists based on sensing data of the lidar sensor and the node data, to generate a new node in the node data and add the generated node to a node group, to determine any of the open movement directions as a movement direction, to control the robot to travels an area corresponding to the node group, to control a suction unit to suck foreign matter around the main body when traveling in the node group, to initialize the node group, to determine whether at least one node is to be updated, moving the robot to any one of the nodes to be updated, and to complete generation of a map.